OpenRaiser/Intern-Atlas huggingface dataset:
Hierarchical Physics-Embedded Learning for Prediction and Discovery in Spatiotemporal Dynamical Systems
Venue: arXiv cs.LG 2026
Year: 2026

Modeling complex spatiotemporal dynamics, particularly in far-from-equilibrium systems, remains a grand challenge in science. The governing partial differential equations (PDEs) for these systems are often intractable to derive from first principles, due to their inherent complexity, characterized by high-order derivatives and strong nonlinearities, coupled with incomplete physical knowledge. This has spurred the development of data-driven methods, yet these approaches face limitations: Purely data-driven models are often physically inconsistent and data-intensive, while existing physics-informed methods lack the structural capacity to represent complex operators or systematically integrate partial physical knowledge. Here, we propose a hierarchical physics-embedded learning framework that fundamentally advances both the forward spatiotemporal prediction and inverse discovery of physical laws from sparse and noisy data. The key innovation is a two-level architecture that mirrors the process of scientific discovery: the first level learns fundamental symbolic components of a PDE, while the second learns their governing combinations. This hierarchical decomposition not only reduces learning complexity but, more importantly, enables a structural integration of prior knowledge. Known physical laws are directly embedded into the models computational graph, guaranteeing physical consistency and improving data efficiency. By building the framework upon adaptive Fourier Neural Operators, we can effectively capture the non-local dependencies and high-order operators characteristic of dynamical systems. Additionally, by structurally decoupling known and unknown terms, the framework further enables interpretable discovery of underlying governing equations through symbolic regression, without presupposing functional forms.
Right for the Right Reasons: Avoiding Reasoning Shortcuts via Prototypical Neurosymbolic AI
Venue: arXiv cs.LG 2026
Year: 2026

Neurosymbolic AI is growing in popularity thanks to its ability to combine neural perception and symbolic reasoning in end-to-end trainable models. However, recent findings reveal these are prone to shortcut reasoning, i.e., to learning unindented concepts--or neural predicates--which exploit spurious correlations to satisfy the symbolic constraints. In this paper, we address reasoning shortcuts at their root cause and we introduce Prototypical Neurosymbolic architectures. These models are able to satisfy the symbolic constraints (be right) because they have learnt the correct basic concepts (for the right reasons) and not because of spurious correlations, even in extremely low data regimes. Leveraging the theory of prototypical learning, we demonstrate that we can effectively avoid reasoning shortcuts by training the models to satisfy the background knowledge while taking into account the similarity of the input with respect to the handful of labelled datapoints. We extensively validate our approach on the recently proposed rsbench benchmark suite in a variety of settings and tasks with very scarce supervision: we show significant improvements in learning the right concepts both in synthetic tasks (MNIST-EvenOdd and Kand-Logic) and real-world, high-stake ones (BDD-OIA). Our findings pave the way to prototype grounding as an effective, annotation-efficient strategy for safe and reliable neurosymbolic learning.
BOLT-GAN: Bayes-Error-Motivated Objective for Stable GAN Training
Venue: arXiv cs.LG 2026
Year: 2026

We introduce BOLT-GAN, a novel framework for stable GAN training using the Bayes optimal learning threshold (BOLT). The discriminator is trained via the BOLT loss under a standard 1-Lipschitz constraint. This guides the generator to maximize the Bayes error of the discrimination task. We show that the training objective in this case represents a class of metrics on probability measures controlled by a 1-Lipschitz discriminator minimizing an integral probability metric that is upper-bounded by Wasserstein-1 distance. Across four standard image-generation benchmarks, BOLT-GAN improves FID and precision/recall over benchmark GAN frameworks under identical architectures and training budgets. Our experimental findings further confirm the advantage of linking the GAN training objective to a min-max Bayes error criterion.
Debate2Create: Robot Co-design via Multi-Agent LLM Debate
Venue: arXiv cs.RO 2026
Year: 2026

We introduce Debate2Create (D2C), a multi-agent LLM framework that formulates robot co-design as structured, iterative debate grounded in physics-based evaluation. A design agent and control agent engage in a thesis-antithesis-synthesis loop, while pluralistic LLM judges provide multi-objective feedback to steer exploration. Across five MuJoCo locomotion benchmarks, D2C achieves up to $3.2\times$ the default Ant score and $\sim9\times$ on Swimmer, outperforming prior LLM-based methods and black-box optimization. Iterative debate yields 18--35% gains over compute-matched zero-shot generation, and D2C-generated rewards transfer to default morphologies in 4/5 tasks. Our results demonstrate that structured multi-agent debate offers an effective alternative to hand-designed objectives for joint morphology-reward optimization.
Supervised Reinforcement Learning: From Expert Trajectories to Step-wise Reasoning
Venue: arXiv cs.CL 2026
Year: 2026

Large Language Models (LLMs) often struggle with problems that require multi-step reasoning. For small-scale open-source models, Reinforcement Learning with Verifiable Rewards (RLVR) fails when correct solutions are rarely sampled even after many attempts, while Supervised Fine-Tuning (SFT) tends to overfit long demonstrations through rigid token-by-token imitation. To address this gap, we propose Supervised Reinforcement Learning (SRL), a framework that reformulates problem solving as generating a sequence of logical "actions". SRL trains the model to generate an internal reasoning monologue before committing to each action. It provides smoother rewards based on the similarity between the model's actions and expert actions extracted from the SFT dataset in a step-wise manner. This supervision offers richer learning signals even when all rollouts are incorrect, while encouraging flexible reasoning guided by expert demonstrations. As a result, SRL enables small models to learn challenging problems previously unlearnable by SFT or RLVR. Moreover, initializing training with SRL before refining with RLVR yields the strongest overall performance. Beyond reasoning benchmarks, SRL generalizes effectively to agentic software engineering tasks, establishing it as a robust and versatile training framework for reasoning-oriented LLMs.
GUI Knowledge Bench: Revealing the Knowledge Gap of VLMs in GUI Tasks
Venue: arXiv cs.AI 2026
Year: 2026

Vision language models (VLMs) have advanced graphical user interface (GUI) task automation but still lag behind humans. We hypothesize this gap stems from missing core GUI knowledge, which existing training schemes (such as supervised fine tuning and reinforcement learning) alone cannot fully address. By analyzing common failure patterns in GUI task execution, we distill GUI knowledge into three dimensions: (1) interface knowledge about widget functions, layout semantics, and system states; (2) interaction knowledge about GUI interaction types and effects; and (3) procedure knowledge of task objectives and workflow sequences. We further introduce GUI Knowledge Bench, a benchmark with multiple-choice and yes/no questions across six platforms (Web, Android, MacOS, Windows, Linux, IOS) and 292 applications. Our evaluation indicates that current VLMs are generally aware of the functions of individual widgets, but lack the GUI-specific knowledge required to track system states, adhere to GUI interaction conventions, and assess task completion progress. Experiments on real-world GUI tasks further validate the close link between GUI knowledge and task success. By providing a structured framework for assessing GUI knowledge, our work supports the selection of VLMs with greater potential prior to downstream training and provides insights for building more capable GUI agents.
Test-Time Alignment of LLMs via Sampling-Based Optimal Control in pre-logit space
Venue: arXiv cs.LG 2026
Year: 2026

Test-time alignment of large language models (LLMs) attracts attention because fine-tuning LLMs requires high computational costs. In this paper, we propose a new test-time alignment method called adaptive importance sampling on pre-logits (AISP) on the basis of the sampling-based model predictive control with the stochastic control input. AISP applies the Gaussian perturbation into pre-logits, which are outputs of the penultimate layer, so as to maximize expected rewards with respect to the mean of the perturbation. We demonstrate that the optimal mean is obtained by importance sampling with sampled rewards. AISP outperforms best-of-n sampling in terms of rewards over the number of used samples and achieves higher rewards than other reward-based test-time alignment methods.
Unambiguous Acceptance of Thin Coalgebras
Venue: arXiv cs.FL 2026
Year: 2026

Automata admitting at most one accepting run per structure, known as unambiguous automata, find applications in verification of reactive systems as they extend the class of deterministic automata whilst maintaining some of their desirable properties. In this paper, we generalise a classical construction of unambiguous automata from thin trees to thin coalgebras for analytic functors. This achieves two goals: extending the existing construction to a larger class of structures, and providing conceptual clarity and parametricity to the construction by formalising it in the coalgebraic framework. As part of the construction, we link automaton acceptance of languages of thin coalgebras to language recognition via so-called coherent algebras, which were previously introduced for studying thin coalgebras. This link also allows us to establish an automata-theoretic characterisation of languages recognised by finite coherent algebras.
LoCoT2V-Bench: Benchmarking Long-Form and Complex Text-to-Video Generation
Venue: arXiv cs.CV 2026
Year: 2026

Recent advances in text-to-video generation have achieved impressive performance on short clips, yet evaluating long-form generation under complex textual inputs remains a significant challenge. In response to this challenge, we present LoCoT2V-Bench, a benchmark for long video generation (LVG) featuring multi-scene prompts with hierarchical metadata (e.g., character settings and camera behaviors), constructed from collected real-world videos. We further propose LoCoT2V-Eval, a multi-dimensional framework covering perceptual quality, text-video alignment, temporal quality, dynamic quality, and Human Expectation Realization Degree (HERD), with an emphasis on aspects such as fine-grained text-video alignment and temporal character consistency. Experiments on 13 representative LVG models reveal pronounced capability disparities across evaluation dimensions, with strong perceptual quality and background consistency but markedly weaker fine-grained text-video alignment and character consistency. These findings suggest that improving prompt faithfulness and identity preservation remains a key challenge for long-form video generation.
Chain-of-Thought Hijacking
Venue: arXiv cs.AI 2026
Year: 2026

Large Reasoning Models (LRMs) improve task performance through extended inference-time reasoning. While prior work suggests this should strengthen safety, we find evidence to the contrary. Long reasoning sequences can be exploited to systematically weaken them. We introduce Chain-of-Thought Hijacking, a jailbreak attack that prepends harmful instructions with extended sequences of benign puzzle reasoning. Across HarmBench, CoT Hijacking achieves attack success rates of 99\%, 94\%, 100\%, and 94\% on Gemini 2.5 Pro, ChatGPT o4 Mini, Grok 3 Mini, and Claude 4 Sonnet. To understand this mechanism, we apply activation probing, attention analysis, and causal interventions. We find that refusal depends on a low-dimensional safety signal that becomes diluted as reasoning grows: mid-layers encode the strength of safety checking, while late layers encode the refusal outcome. These findings demonstrate that explicit chain-of-thought reasoning introduces a systematic vulnerability when combined with answer-prompting cues. We release all evaluation materials to facilitate replication.
Think Outside the Policy: In-Context Steered Policy Optimization
Venue: arXiv cs.LG 2026
Year: 2026

Existing Reinforcement Learning from Verifiable Rewards (RLVR) methods, such as Group Relative Policy Optimization (GRPO), have achieved remarkable progress in improving the reasoning capabilities of Large Reasoning Models (LRMs). However, they exhibit limited exploration due to reliance on on-policy rollouts which are confined to the current policy's distribution, resulting in narrow trajectory diversity. Recent approaches attempt to expand policy coverage by incorporating trajectories generated from stronger expert models, yet this reliance increases computational cost and such advanced models are often inaccessible. To address these issues, we propose In-Context Steered Policy Optimization (ICPO), a unified framework that leverages the inherent in-context learning capability of LRMs to provide expert guidance using existing datasets. ICPO introduces mixed-policy GRPO with implicit expert forcing, which expands exploration beyond the current policy distribution without requiring advanced LRM trajectories. To further stabilize optimization, ICPO integrates expert region reject sampling to filter unreliable off-policy trajectories and annealed expert-bonus reward shaping to balance early expert guidance with later autonomous improvement. Results demonstrate that ICPO consistently enhances RLVR performance and training stability on mathematical reasoning benchmarks, revealing a scalable and effective RLVR paradigm for LRMs. Our code is available at https://anonymous.4open.science/r/ICPO.
Empirical and Sustainability Aspects of Software Engineering Research in the Era of Large Language Models: A Reflection
Venue: arXiv cs.SE 2026
Year: 2026

Software Engineering (SE) research involving the use of Large Language Models (LLMs) has introduced several new challenges related to rigour in benchmarking, contamination, replicability, and sustainability. In this paper, we invite the research community to reflect on how these challenges are addressed in SE. Our results provide a structured overview of current LLM-based SE research at ICSE, highlighting both encouraging practices and persistent shortcomings. We conclude with recommendations to strengthen benchmarking rigour, improve replicability, and address the financial and environmental costs of LLM-based SE.
Boosted Trees on a Diet: Compact Models for Resource-Constrained Devices
Venue: arXiv cs.LG 2026
Year: 2026

Deploying machine learning models on compute-constrained devices has become a key building block of modern IoT applications. In this work, we present a compression scheme for boosted decision trees, addressing the growing need for lightweight machine learning models. Specifically, we provide techniques for training compact boosted decision tree ensembles that exhibit a reduced memory footprint by rewarding, among other things, the reuse of features and thresholds during training. Our experimental evaluation shows that models achieved the same performance with a compression ratio of 4-16x compared to LightGBM models using an adapted training process and an alternative memory layout. Once deployed, the corresponding IoT devices can operate independently of constant communication or external energy supply, and, thus, autonomously, requiring only minimal computing power and energy. This capability opens the door to a wide range of IoT applications, including remote monitoring, edge analytics, and real-time decision making in isolated or power-limited environments.
LLMs Process Lists With General Filter Heads
Venue: arXiv cs.AI 2026
Year: 2026

We investigate the mechanisms underlying a range of list-processing tasks in LLMs, and we find that LLMs have learned to encode a compact, causal representation of a general filtering operation that mirrors the generic "filter" function of functional programming. Using causal mediation analysis on a diverse set of list-processing tasks, we find that a small number of attention heads, which we dub filter heads, encode a compact representation of the filtering predicate in their query states at certain tokens. We demonstrate that this predicate representation is general and portable: it can be extracted and reapplied to execute the same filtering operation on different collections, presented in different formats, languages, or even in tasks. However, we also identify situations where transformer LMs can exploit a different strategy for filtering: eagerly evaluating if an item satisfies the predicate and storing this intermediate result as a flag directly in the item representations. Our results reveal that transformer LMs can develop human-interpretable implementations of abstract computational operations that generalize in ways that are surprisingly similar to strategies used in traditional functional programming patterns.
Cut-free Deductive System for Continuous Intuitionistic Logic
Venue: arXiv cs.LO 2026
Year: 2026

We introduce and develop propositional continuous intuitionistic logic and propositional continuous affine logic via complete algebraic semantics. Our approach centres on AC-algebras, which are algebras $USC(\mathcal{L})$ of sup-preserving functions from $[0,1]$ to an integral commutative residuated complete lattice $\mathcal{L}$ (in the intuitionistic case, $\mathcal{L}$ is a locale). We give an algebraic axiomatisation of AC-algebras in the language of continuous logic and prove, using the Macneille completion, that every Archimedean model embeds into some AC-algebra. We also show that (i) $USC(\mathcal{L})$ satisfies $v \dot + v = 2v$ exactly when $\mathcal{L}$ is a locale, (ii) involutiveness of negation in $USC(\mathcal{L})$ corresponds to that in $\mathcal{L} $, and that (iii) adding those conditions recovers classical continuous logic. For each variant -affine, intuitionistic, involutive, classical -we provide a sequent style deductive system and prove completeness and cut admissibility. This yields the first sequent style formulation of classical continuous logic enjoying cut admissibility.
How Similar Are Grokipedia and Wikipedia? A Multi-Dimensional Textual and Structural Comparison
Venue: arXiv cs.CY 2026
Year: 2026

The launch of Grokipedia, an AI-generated encyclopedia developed by Elon Musk's xAI, was presented as a response to perceived ideological and structural biases in Wikipedia, aiming to produce "truthful" entries using the Grok large language model. Yet whether an AI-driven alternative can escape the biases and limitations of human-edited platforms remains unclear. This study conducts a large-scale computational comparison of 17,790 matched article pairs from the 20,000 most-edited English Wikipedia pages. Using metrics spanning lexical richness, readability, reference density, structural features, and semantic similarity, we assess how closely the two platforms align in form and substance. We find that Grokipedia articles are substantially longer and contain significantly fewer references per word. Moreover, Grokipedia's content divides into two distinct groups: one that remains semantically and stylistically aligned with Wikipedia, and another that diverges sharply. Among the dissimilar articles, we observe a systematic rightward shift in the political bias of cited sources, concentrated primarily in entries related to politics, history, and religion. More broadly, the findings indicate that AI-generated encyclopedic content departs from established editorial norms, favoring narrative expansion over citation-based verification, raising questions about transparency, provenance, and the governance of knowledge in automated information systems.
NaviTrace: Evaluating Embodied Navigation of Vision-Language Models
Venue: arXiv cs.RO 2026
Year: 2026

Vision-language models demonstrate unprecedented performance and generalization across a wide range of tasks and scenarios. Integrating these foundation models into robotic navigation systems opens pathways toward building general-purpose robots. Yet, evaluating these models' navigation capabilities remains constrained by costly real-world trials, overly simplified simulations, and limited benchmarks. We introduce NaviTrace, a high-quality Visual Question Answering benchmark where a model receives an instruction and embodiment type (human, legged robot, wheeled robot, bicycle) and must output a 2D navigation trace in image space. Across 1000 scenarios and more than 3000 expert traces, we systematically evaluate eight state-of-the-art VLMs using a newly introduced semantic-aware trace score. This metric combines Dynamic Time Warping distance, goal endpoint error, and embodiment-conditioned penalties derived from per-pixel semantics and correlates with human preferences. Our evaluation reveals consistent gap to human performance caused by poor spatial grounding and goal localization. NaviTrace establishes a scalable and reproducible benchmark for real-world robotic navigation. The benchmark and leaderboard can be found at https://leggedrobotics.github.io/navitrace_webpage/.
SpikeATac: A Multimodal Tactile Finger with Taxelized Dynamic Sensing for Dexterous Manipulation
Venue: arXiv cs.RO 2026
Year: 2026

In this work, we introduce SpikeATac, a multimodal tactile finger combining a taxelized and highly sensitive dynamic response (PVDF) with a static transduction method (capacitive) for multimodal touch sensing. Named for its `spiky' response, SpikeATac's 16-taxel PVDF film sampled at 4 kHz provides fast, sensitive dynamic signals to the very onset and breaking of contact. We characterize the sensitivity of the different modalities, and show that SpikeATac provides the ability to stop quickly and delicately when grasping fragile, deformable objects. Beyond parallel grasping, we show that SpikeATac can be used in a learning-based framework to achieve new capabilities on a dexterous multifingered robot hand. We use a learning recipe that combines reinforcement learning from human feedback with tactile-based rewards to fine-tune the behavior of a policy to modulate force. Our hardware platform and learning pipeline together enable a difficult dexterous and contact-rich task that has not previously been achieved: in-hand manipulation of fragile objects. Videos are available at https://roamlab.github.io/spikeatac/ .
Cross-Band Channel Impulse Response Prediction: Leveraging 3.5 GHz Channels for Upper Mid-Band
Venue: arXiv cs.IT 2026
Year: 2026

Accurate cross-band channel prediction is essential for 6G networks, particularly in the upper mid-band (FR3, 7-24 GHz), where penetration loss and blockage are severe. Although ray tracing (RT) provides high-fidelity modeling, it remains computationally intensive, and high-frequency data acquisition is costly. To address these challenges, we propose CIR-UNext, a deep learning framework designed to predict 7 GHz channel impulse responses (CIRs) by leveraging abundant 3.5 GHz CIRs. The framework integrates an RT-based dataset pipeline with attention U-Net (AU-Net) variants for gain and phase prediction. The proposed AU-Net-Aux model achieves a median gain error of 0.58 dB and a phase prediction error of 0.27 rad on unseen complex environments. Furthermore, we extend CIR-UNext into a foundation model, Channel2ComMap, for throughput prediction in MIMO-OFDM systems, demonstrating superior performance compared with existing approaches. Overall, CIR-UNext provides an efficient and scalable solution for cross-band prediction, enabling applications such as localization, beam management, digital twins, and intelligent resource allocation in 6G networks.